Dynamic legged locomotion is a challenging topic because of the lack of established control
schemes which can handle aerial phases, short stance times, and high-speed leg swings. In …

The next generation of autonomous-legged robots will herald a new era in the fields of
manufacturing, healthcare, terrain exploration, and surveillance. We can expect significant …

Maintaining a stable trunk while driving over rough terrain is a challenging issue for a multi-
wheel-leg mobile robot, since the control coupling between the legs and the trunk has a …

In this paper, an adaptive locomotion control approach for a hexapod robot is proposed.
Inspired from biological neuro control systems, a 3D two-layer artificial center pattern …

Whole-Body Control (WBC) has emerged as an important framework in locomotion control
for legged robots. However, most WBC frameworks fail to generalize beyond rigid terrains …

The vast majority of state-of-the-art walking robots employ flat or ball feet for locomotion,
presenting limitations while stepping on obstacles, slopes, or unstructured terrain. Moreover …

Global position control for underactuated bipedal walking is a challenging problem due to
the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear …

This paper presents the design and control of a high-speed running bipedal robot, BRAVER.
The robot, which weighs 8.6 kg and is 0.36 m tall, has six active degrees, all of which are …

In this letter, we present a novel two-level variable Horizon Model Predictive Control (VH-
MPC) framework for bipedal locomotion. In this framework, the higher level computes the …

Quadruped robots manifest great potential to traverse rough terrains with payload. Current
model-based controllers, which are extensively adopted in quadruped robot locomotion …